From: Jan L. <jan...@gm...> - 2007-02-19 18:42:06
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Hi, I'm building an environment with some furniture using plugin models. When I run gazebo with any of my plugin models they seem to kind of "vibrate". This happens even with very simple models, consisting of single box geoms. Lowering the simulation timestep reduces the vibrations but it seems odd that only plugin models vibrate when the models already in Gazebo do not. Secondly I'd like to ask about stuff like cabinets with openable doors. I've tried doing a cabinet but for some reason I had to do the door as a seperate model and attach to the main part of the cabinet in the worldfile, otherwise the door could go through the rest of the cabinet. Are models not obstructed by themselves? Is there any example code for stuff like furniture somewhere? -Jan |
From: Nate K. <nk...@ro...> - 2007-02-23 18:40:02
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Hello, On 2/19/07, Jan Larsson <jan...@gm...> wrote: > I'm building an environment with some furniture using plugin models. When I > run gazebo with any of my plugin models they seem to kind of "vibrate". This > happens even with very simple models, consisting of single box geoms. > Lowering the simulation timestep reduces the vibrations but it seems odd > that only plugin models vibrate when the models already in Gazebo do not. Take a look at your mass parameters, and compare them to static models. That might help . Also, a model with many joints tend to vibrate a little. > Secondly I'd like to ask about stuff like cabinets with openable doors. I've > tried doing a cabinet but for some reason I had to do the door as a seperate > model and attach to the main part of the cabinet in the worldfile, otherwise > the door could go through the rest of the cabinet. Are models not obstructed > by themselves? Models do not collide with themselves. This was done to reduce the computation required for each model. The is no code for furniture right now. The easiest way to make static furniture is to use 3ds skins. Actuated furniture is a little more complex. When putting doors on cabinets, set the joint limits to stop the doors from rotating too far. -nate |